sergiov2000 commited on
Commit
9a17b1c
·
verified ·
1 Parent(s): 8b39042

Upload folder using huggingface_hub

Browse files
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:811e883d9355889d74aee5e6490adbde75945090453900717ccc203c308b6ed1
3
+ size 23808
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:34970b61583eeefea730b691afb1ba108d0563d511220a99bfec3d2a2cb68251
3
+ size 28235
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:47048397f9be98eb483bb6a0f545e838651b3b86d8692dddb10cd1c23484410f
3
+ size 36564
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 304}
2
+ {"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 352}
3
+ {"episode_index": 2, "tasks": ["Grasp a lego block and put it in the bin."], "length": 496}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-22.15060043334961, 56.67829895019531, 56.2679443359375, 44.165287017822266, -34.104759216308594, -1.4147834777832031], "max": [75.7765884399414, 186.6756591796875, 182.6021728515625, 94.82020568847656, 27.736982345581055, 37.230133056640625], "mean": [2.295867681503296, 105.17256927490234, 96.93537139892578, 72.96992492675781, 8.875155448913574, 9.627836227416992], "std": [31.172130584716797, 43.38200378417969, 38.635467529296875, 14.611475944519043, 16.993083953857422, 14.182441711425781], "count": [304]}, "observation.state": {"min": [-22.236328125, 56.25, 58.53515625, 43.9453125, -31.9921875, -0.9561753273010254], "max": [75.498046875, 186.6796875, 179.6484375, 94.39453125, 27.509765625, 36.89242935180664], "mean": [1.7829654216766357, 104.9815902709961, 97.94773864746094, 72.8049545288086, 9.183992385864258, 12.476423263549805], "std": [30.701343536376953, 44.40034484863281, 38.4703483581543, 14.877725601196289, 16.5148868560791, 12.693283081054688], "count": [304]}, "observation.images.blackboard": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4310604820261438]], [[0.4571157291666667]], [[0.4029815604575164]]], "std": [[[0.1997460954307311]], [[0.2070534938474899]], [[0.19961608100588693]]], "count": [100]}, "observation.images.lego": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5049330494281046]], [[0.503754344362745]], [[0.464912404003268]]], "std": [[[0.3242428516740737]], [[0.30392192972195753]], [[0.3250643300705135]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [10.1], "mean": [5.05], "std": [2.9252255373636484], "count": [304]}, "frame_index": {"min": [0], "max": [303], "mean": [151.5], "std": [87.75676612090945], "count": [304]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [304]}, "index": {"min": [0], "max": [303], "mean": [151.5], "std": [87.75676612090945], "count": [304]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [304]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-20.093050003051758, 57.840850830078125, 69.06245422363281, 57.956180572509766, -36.29104232788086, -1.5559840202331543], "max": [74.48192596435547, 143.24465942382812, 145.6826934814453, 90.363525390625, 33.40081787109375, 32.482547760009766], "mean": [9.843351364135742, 96.39314270019531, 90.93189239501953, 72.19849395751953, 3.936107635498047, 11.809564590454102], "std": [29.773563385009766, 22.718915939331055, 19.54952049255371, 9.396377563476562, 20.60599136352539, 12.594524383544922], "count": [352]}, "observation.state": {"min": [-20.126953125, 58.447265625, 71.3671875, 44.560546875, -36.123046875, -1.0358566045761108], "max": [74.35546875, 186.6796875, 179.560546875, 90.087890625, 33.046875, 32.27091598510742], "mean": [9.529891014099121, 97.14511108398438, 93.4484634399414, 72.00115203857422, 3.895901679992676, 11.62374210357666], "std": [29.366914749145508, 25.330564498901367, 22.03766441345215, 9.814505577087402, 20.300992965698242, 12.60206413269043], "count": [352]}, "observation.images.blackboard": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4242360130718954]], [[0.44819182189542484]], [[0.3994798692810458]]], "std": [[[0.19925412165121612]], [[0.2049006393704849]], [[0.1979503074897259]]], "count": [100]}, "observation.images.lego": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5128313337418301]], [[0.5074096466503268]], [[0.46707330269607844]]], "std": [[[0.3273210524718175]], [[0.30486556367173623]], [[0.3267457406049494]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [11.7], "mean": [5.85], "std": [3.3871079108879893], "count": [352]}, "frame_index": {"min": [0], "max": [351], "mean": [175.5], "std": [101.61323732663968], "count": [352]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [352]}, "index": {"min": [304], "max": [655], "mean": [479.5], "std": [101.61323732663968], "count": [352]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [352]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-17.403648376464844, 51.17903137207031, 62.77666473388672, 59.847599029541016, -25.193002700805664, -1.387040615081787], "max": [76.05105590820312, 121.00895690917969, 116.49749755859375, 97.46389770507812, 27.154157638549805, 39.84125900268555], "mean": [6.595626354217529, 86.23446655273438, 78.57820129394531, 75.86746215820312, 4.795583248138428, 9.771679878234863], "std": [27.965105056762695, 19.798940658569336, 9.955801010131836, 10.928898811340332, 11.694228172302246, 13.093717575073242], "count": [496]}, "observation.state": {"min": [-17.40234375, 51.767578125, 63.544921875, 44.560546875, -24.9609375, -0.9561753273010254], "max": [76.025390625, 186.6796875, 179.560546875, 97.20703125, 26.806640625, 39.123504638671875], "mean": [6.405206680297852, 87.09090423583984, 81.32649993896484, 75.44153594970703, 4.620636940002441, 9.647059440612793], "std": [27.943628311157227, 23.37789535522461, 15.294069290161133, 11.283223152160645, 11.466649055480957, 12.99096965789795], "count": [496]}, "observation.images.blackboard": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42949348350451294]], [[0.45380205610021784]], [[0.40335920868347336]]], "std": [[[0.19887823018853906]], [[0.2037505639589191]], [[0.19727734802637295]]], "count": [105]}, "observation.images.lego": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5189851034858388]], [[0.5147680069249921]], [[0.47511036414565827]]], "std": [[[0.32919600687593564]], [[0.3074820407837283]], [[0.32950070081748023]]], "count": [105]}, "timestamp": {"min": [0.0], "max": [16.5], "mean": [8.25], "std": [4.77275252518572], "count": [496]}, "frame_index": {"min": [0], "max": [495], "mean": [247.5], "std": [143.1825757555716], "count": [496]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [496]}, "index": {"min": [656], "max": [1151], "mean": [903.5], "std": [143.1825757555716], "count": [496]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [496]}}}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so100",
4
+ "total_episodes": 3,
5
+ "total_frames": 1152,
6
+ "total_tasks": 1,
7
+ "total_videos": 6,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:3"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "action": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 6
21
+ ],
22
+ "names": [
23
+ "main_shoulder_pan",
24
+ "main_shoulder_lift",
25
+ "main_elbow_flex",
26
+ "main_wrist_flex",
27
+ "main_wrist_roll",
28
+ "main_gripper"
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "main_shoulder_pan",
38
+ "main_shoulder_lift",
39
+ "main_elbow_flex",
40
+ "main_wrist_flex",
41
+ "main_wrist_roll",
42
+ "main_gripper"
43
+ ]
44
+ },
45
+ "observation.images.blackboard": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 480,
49
+ 640,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.fps": 30.0,
59
+ "video.height": 480,
60
+ "video.width": 640,
61
+ "video.channels": 3,
62
+ "video.codec": "h264",
63
+ "video.pix_fmt": "yuv420p",
64
+ "video.is_depth_map": false,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.lego": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 640,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.fps": 30.0,
82
+ "video.height": 480,
83
+ "video.width": 640,
84
+ "video.channels": 3,
85
+ "video.codec": "h264",
86
+ "video.pix_fmt": "yuv420p",
87
+ "video.is_depth_map": false,
88
+ "has_audio": false
89
+ }
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grasp a lego block and put it in the bin."}
videos/chunk-000/observation.images.blackboard/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0662c3cc6cce4df8c2a06b011b1e96fc2ce27fd67f2766cc774e54f386e4b7c4
3
+ size 5709509
videos/chunk-000/observation.images.blackboard/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ba7fe2a651a00fdcd9e0cf29e915fa20eb966ea25a68a4e80812919140f4e66e
3
+ size 6695594
videos/chunk-000/observation.images.blackboard/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:efe31f4e0bd6ec7f49491c23cee06807715d96d33fa9211893075f0fc695a639
3
+ size 9359512
videos/chunk-000/observation.images.lego/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ba9dd4fcadeb9fff1bd0d98e7cce76ed69b374ffe7dbfa0422635f4d58f9c85d
3
+ size 5473357
videos/chunk-000/observation.images.lego/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f2d94df4e8073e4fa959b40ceb54069c35683ac35c95708d7b7f07e5c4b5ad36
3
+ size 6682561
videos/chunk-000/observation.images.lego/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fc3f2288f8af3a1cc8d91d778b24088c24177d0ed25da8e722efa4a5dae524ad
3
+ size 10003334